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add pcd saving function

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2021-07-06 02:41:52 -04:00
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@@ -135,6 +135,10 @@ Step C: Run LiDAR's ros driver or play rosbag.
*Remarks:*
- We will produce some velodyne datasets which is already transfered to Rosbags, please wait for a while.
### 3.4 PCD file save
Set ``` pcd_save_enable ``` in launchfile to ``` 1 ```, every frame will be saved as an independent .PCD file in ``` FAST_LIO/PCD/ ``` directory.
## 4. Rosbag Example
### 4.1 Indoor rosbag (Livox Avia LiDAR)